[go: up one dir, main page]

EP4048209B1 - Articulation orthopédique et son procédé de commande - Google Patents

Articulation orthopédique et son procédé de commande Download PDF

Info

Publication number
EP4048209B1
EP4048209B1 EP20788760.5A EP20788760A EP4048209B1 EP 4048209 B1 EP4048209 B1 EP 4048209B1 EP 20788760 A EP20788760 A EP 20788760A EP 4048209 B1 EP4048209 B1 EP 4048209B1
Authority
EP
European Patent Office
Prior art keywords
joint
function
resistance
sensor
control device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP20788760.5A
Other languages
German (de)
English (en)
Other versions
EP4048209A1 (fr
Inventor
Dirk Seifert
Florian Fuchs
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Otto Bock Healthcare Products GmbH
Original Assignee
Otto Bock Healthcare Products GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Otto Bock Healthcare Products GmbH filed Critical Otto Bock Healthcare Products GmbH
Publication of EP4048209A1 publication Critical patent/EP4048209A1/fr
Application granted granted Critical
Publication of EP4048209B1 publication Critical patent/EP4048209B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/748—Valve systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F5/0123—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees
    • A61F5/0125—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the knees the device articulating around a single pivot-point
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2/6607—Ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A61F2002/5004—Prostheses not implantable in the body having damping means, e.g. shock absorbers operated by electro- or magnetorheological fluids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6854—Operating or control means for locking or unlocking a joint
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6863—Operating or control means magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0158—Additional features of the articulation with locking means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices ; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces
    • A61F5/0102—Orthopaedic devices, e.g. long-term immobilising or pressure directing devices for treating broken or deformed bones such as splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
    • A61F2005/0132—Additional features of the articulation
    • A61F2005/0165—Additional features of the articulation with limits of movement
    • A61F2005/0167—Additional features of the articulation with limits of movement adjustable

Definitions

  • the invention also relates to a method for controlling an orthopaedic joint, in particular a prosthetic joint or orthotic joint, having an upper part and a lower part pivotably arranged thereon and a resistance device arranged between the upper part and the lower part, which resistance provides a resistance against a pivoting movement of the upper part relative to the lower part about a pivot axis and has an adjusting device via which the resistance is adjusted on the basis of sensor data which is transmitted from at least one sensor to a control device connected to the adjusting device in such a way that when a function is activated the joint is locked against pivoting and when the function is deactivated the joint is unlocked.
  • an orthopaedic joint in particular a prosthetic joint or orthotic joint, having an upper part and a lower part pivotably arranged thereon and a resistance device arranged between the upper part and the lower part, which resistance provides a resistance against a pivoting movement of the upper part relative to the lower part about a pivot axis and has an adjusting device via which the resistance is adjusted on
  • the lower leg tube is attached to a prosthetic knee joint, which is arranged on a femoral shaft on a femoral stump.
  • the orthopaedic aid can bridge one or more joints, for example a knee joint and/or an ankle joint or, in the case of application on an upper extremity, an elbow joint and/or a wrist.
  • the object of the present invention is to provide a joint and a method for controlling a joint that can be more easily adapted to the needs of the respective user.
  • a less sensitive parameterization stipulates that locking only takes place after complete immobility for a comparatively long period of time.
  • a more sensitive parameterization can stipulate that slight relative movements or pivoting are permitted within the same period of time, or that the lock is activated or initiated when the joint is completely stationary and this standstill lasts for a short time, or when the joint is briefly, almost completely immobilized.
  • the corresponding deactivation can also be set sensitively, for example by lowering a threshold value for the change in spatial position or a small change in an axial load.
  • the joint mechanism can be unlocked by loosening the resistance device or reducing the flexion resistance by tilting the upper part forward or backward together with the lower part, for example when sitting down.
  • the threshold values for the activation and/or deactivation parameters are preferably variable, particularly stepwise or continuously adjustable.
  • the parameters can be displayed, for example, on a touch-sensitive display, so that a corresponding parameter adjustment or threshold value adjustment for the respective parameter is made by adjusting a displayed slider or dial, or, in the case of stepwise creation, by touching an icon.
  • the user or orthopedic technician can be informed about the threshold values and their properties, so that the person in question receives the necessary information about which settings have what effects.
  • Figure 1 shows a schematic representation of an orthopedic aid in the form of an orthosis 10 with an upper part 11, which is connected to a lower part 12 via a joint 13.
  • the lower part 12 is connected to the upper part 11 about a pivot axis 14.
  • the upper part 11 of the leg orthosis is designed as a shell or splint for receiving a thigh
  • the lower part 12 is designed to rest against a lower leg and has a foot part that is molded onto the lower part 12 or alternatively fastened thereto.
  • a resistance device 20 is arranged on the upper part 11, via which a pivoting resistance of the lower part 12 relative to the upper part 11 can be adjusted.
  • the resistance device 20 can be used in particular to block a pivoting movement and is designed, for example, as a hydraulic damper, a brake, a magnetorheological resistance device or the like.
  • Sensors 30 are arranged on both the upper part 11 and the lower part 12, which provide information about the current spatial position, the position relative to one another, and, if applicable, loads, angular positions, and/or accelerations of the respective components.
  • the sensors 30 are coupled to a control device 40, either by cable or wirelessly. Within the control device 40, the sensor data is evaluated and compared with threshold values stored in programs or memories within the control device 40. If the corresponding criteria for locking or unlocking the joint 13 are met, the control device 40 outputs a control command to an adjustment device 60 arranged on the resistance device 20.
  • the adjustment device for example a motor or actuator for adjusting a valve, a coil for changing a magnetic field, or another actuating device or other influencing element, then acts within the resistance device 20 or on the resistance device 20 and locks or unlocks the joint 13.
  • a spatial position sensor or an IMU, an axial force sensor, or the like On the foot part, for example, a torque sensor and/or force sensor can be arranged.
  • Several sensors can be arranged on the respective component or assigned to it.
  • a time sensor or a timing element is arranged or formed in the control device 40, via which a change in state or the duration of a detected state is determined.
  • the user of the orthopedic aid 10 is in a sitting position with the knee joint bent.
  • the bent position is determined, for example, by an angle sensor that detects the angular position of the upper part 11 and lower part 12 in space or relative to each other. Furthermore, the foot part or the prosthetic foot is relieved because part of the body weight is not transferred to the orthopedic aid 10 due to the sitting position. This low axial load is detected, for example, by a force sensor in the foot part or the prosthetic foot. It can be pleasant for the user if a joint 13, 13', i.e. the orthotic or prosthetic knee joint or the prosthetic ankle joint, is locked if the user remains in such a position for a certain period of time.
  • the leg tendon 50 is slightly tilted forward in the walking direction and has an almost maximum length due to the slight flexion in the knee joint 13.
  • the flexion in the knee joint in the Figure 4 is larger than in the Figure 3 , however, the leg tendon 50 is tilted backwards.
  • the leg tendon 50 in the position according to Figure 5 is comparatively strongly tilted forward and shortened compared to the position according to Figure 3 , the spatial inclination of the sitting position according to Figure 6 corresponds approximately to the inclination of the leg tendon 50 according to Figure 4
  • the leg tendon 50 is significantly shorter due to the greater knee flexion.
  • different axial forces can be detected in all positions, for example, via a force sensor 30 in the foot section.
  • the moments around the knee joint axis 14 are different in each usage situation.
  • Figure 8 shows, by way of example, part of a control device 40 with an operating element 42, which is designed as a touch-sensitive element in a display device 41, for example a display.
  • the operating element 42 can also be designed as a mechanical operating element, for example as a controller, slider, or switch.
  • the position of the operating element 42 can be shifted between the two extreme values for very responsive (with rapid locking and correspondingly rapid unlocking) and very stable (very stable).
  • the adjustment can be continuous or stepwise. Below the operating element 42, it is displayed how the time for activation of the lock by the resistance device 20 changes as a result, namely from short to long.
  • the display 41 can also be arranged at a different location on the prosthetic knee joint or the orthopedic device and communicate wirelessly with the adjustment device 60, so that an adjustment can be made conveniently for the user at any location, for example via a mobile phone, a tablet or another graphical user interface.
  • prosthetic knee joints Five variants of adjustment devices and resistance devices are illustrated using prosthetic knee joints; corresponding components can also be arranged on orthoses or exoskeletons. All prosthetic knee joints 13 have an upper part 11 and a lower part 12.
  • the resistance device 20 is designed as a spindle gear with a motor that can be activated and deactivated via the adjustment device 60. This changes the pivoting of the upper part 11 relative to the lower part 12 and, if necessary, locks it in at least one direction.
  • the resistance device 20 is designed as a motor that is arranged directly on the upper part 11 and supported against the lower part 12.
  • the motor represents the resistance device 20 and can be supplied with different currents by the adjustment device 60 via a corresponding control, so that different resistances against flexion and/or extension or a locking in one of the directions can be provided.
  • the joint device 13 is designed as a multi-link system with four links and a non-stationary joint axis.
  • the resistance device 20 is designed as a spindle gear with a motor that is the adjustment device 60 can be activated or deactivated in order to influence a pivoting of the upper part 11 relative to the lower part 12 or to effect a locking.
  • the resistance device 20 is designed as a hydraulic damper or pneumatic damper, which has a cylinder in which a piston with a piston rod is guided for longitudinal displacement.
  • the piston divides the cylinder into an extension chamber and a flexion chamber, which are coupled to one another via a connecting channel.
  • Within the connecting channel is at least one control valve, the flow cross-section of which can be varied.
  • the adjustment device 60 can be used to change the flow cross-section or to block a fluidic connection from the extension chamber to the flexion chamber, in order to influence or block pivotability about the pivot axis 14.
  • the resistance device 20 is designed as a pivoting piston system in which the pivoting piston is located in a chamber and can be displaced relative to the lower part 12 in correspondence with the pivoting of the upper part 11.
  • the pivoting piston also forms an extension chamber and a flexion chamber.
  • a magnetorheological fluid can be located within the pivoting piston system, the viscosity of which can be varied via the adjustment device 60 in the form of an activatable and deactivatable magnetic field. This influences the flow rate from the extension chamber to the flexion chamber and vice versa depending on the applied magnetic field and the resulting adjusted viscosity of the medium.

Landscapes

  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Transplantation (AREA)
  • Nursing (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Prostheses (AREA)

Claims (14)

  1. Articulation orthopédique comprenant une partie supérieure (11, 11') et une partie inférieure (12, 12') disposée de manière pivotante sur celle-ci et un dispositif de résistance (20) disposé entre la partie supérieure (11, 11') et la partie inférieure (12, 12'), lequel assure une résistance au mouvement de pivotement de la partie supérieure (11, 11') par rapport à la partie inférieure (12, 12') autour d'un axe de pivotement (14, 14') et présente un dispositif de réglage (60) permettant de régler la résistance, le dispositif de réglage (60) étant couplé à un dispositif de commande (40) qui est couplé à au moins un capteur (30), de sorte que la résistance peut être réglée par l'intermédiaire du dispositif de commande (40) sur la base de données de capteur qui sont transmises par ledit au moins un capteur (30) au dispositif de commande (40), une fonction étant enregistrée dans le dispositif de commande (40), dans laquelle l'articulation (13, 13') est bloquée à l'encontre d'un pivotement dans au moins une direction en réponse aux données du capteur, la fonction pouvant être activée pour un blocage et être désactivée pour un déblocage sur la base des données du capteur,
    caractérisée en ce qu'au moins un paramètre d'activation de la fonction et au moins un paramètre de désactivation, différent du paramètre d'activation, sont corrélés entre eux.
  2. Dispositif d'articulation orthopédique selon la revendication 1,
    caractérisé en ce que la durée d'un état statique de l'articulation (13, 13') est enregistrée comme paramètre d'activation de la fonction.
  3. Dispositif d'articulation orthopédique selon la revendication 1 ou 2,
    caractérisé en ce qu'un mouvement de la partie inférieure (12, 12'), de la partie supérieure (11, 11') et/ou une charge sur l'articulation (13, 13') et/ou des taux de variation du mouvement ou de la charge sont enregistrés comme paramètres d'activation ou de désactivation de la fonction.
  4. Articulation orthopédique selon l'une des revendications précédentes,
    caractérisée en ce qu'une position spatiale de la partie supérieure (11, 11'), de la partie inférieure (12, 12') et/ou d'une ligne de liaison (50) entre deux points (51, 52) du côté proximal et distal de l'axe de pivotement (14, 14') est enregistrée comme paramètre de désactivation de la fonction.
  5. Articulation orthopédique selon l'une des revendications précédentes,
    caractérisée en ce que des valeurs seuils sont enregistrées pour les paramètres d'activation et/ou de désactivation, et les valeurs seuils sont variables.
  6. Articulation orthopédique selon la revendication 5,
    caractérisée en ce que les valeurs seuils pour l'activation et la désactivation sont corrélées positivement.
  7. Articulation orthopédique selon l'une des revendications précédentes,
    caractérisée en ce que le dispositif de commande (40) est relié à un dispositif d'affichage (41) et à un élément de manipulation (42) pour modifier les paramètres ou les valeurs seuils des paramètres.
  8. Articulation orthopédique selon l'une des revendications précédentes,
    caractérisée en ce qu'un gyroscope, un capteur d'angle, un capteur de force et/ou un capteur de position spatiale est couplé au dispositif de commande (40).
  9. Procédé de commande d'une articulation orthopédique (13, 13') comprenant une partie supérieure (11, 11') et une partie inférieure (12, 12') disposée de manière pivotante sur celle-ci et un dispositif de résistance (20) disposé entre la partie supérieure (11, 11') et la partie inférieure (12, 12'), lequel assure une résistance au mouvement de pivotement de la partie supérieure (11, 11') par rapport à la partie inférieure (12, 12') autour d'un axe de pivotement (14, 14') et présente un dispositif de réglage (60) permettant de régler la résistance sur la base de données de capteur qui sont transmises par au moins un capteur (30) à un dispositif de commande (40) relié au dispositif de réglage (60), de telle sorte que, lors de l'activation d'une fonction, l'articulation (20) est bloquée à l'encontre d'un pivotement et, lors de la désactivation de la fonction, elle est débloquée,
    caractérisé en ce qu'au moins une valeur seuil pour un paramètre d'activation de la fonction et au moins une valeur seuil pour un paramètre de désactivation, différent du paramètre d'activation, sont corrélées entre elles.
  10. Procédé selon la revendication 9,
    caractérisé en ce que les valeurs seuils sont corrélées positivement entre elles.
  11. Procédé selon la revendication 9 ou 10,
    caractérisé en ce que la fonction est activée sur la base de la durée d'un état statique du dispositif d'articulation.
  12. Procédé selon l'une des revendications 9 à 11,
    caractérisé en ce que la fonction est activée ou désactivée sur la base d'un mouvement de la partie inférieure (12, 12'), de la partie supérieure (11, 11') et/ou d'une charge sur l'articulation (13, 13').
  13. Procédé selon l'une des revendications 9 à 11,
    caractérisé en ce que la fonction est désactivée sur la base d'une position spatiale de la partie supérieure (11, 11'), de la partie inférieure (12, 12') et/ou d'une ligne de liaison (50) entre deux points (51, 52) du côté proximal et distal de l'axe de pivotement (14, 14').
  14. Procédé selon l'une des revendications 9 à 13,
    caractérisé en ce que les valeurs seuils des paramètres d'activation et de désactivation sont variables.
EP20788760.5A 2019-10-22 2020-10-07 Articulation orthopédique et son procédé de commande Active EP4048209B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019128508.9A DE102019128508B4 (de) 2019-10-22 2019-10-22 Orthopädietechnisches Gelenk und Verfahren zu dessen Steuerung
PCT/EP2020/078102 WO2021078516A1 (fr) 2019-10-22 2020-10-07 Articulation orthopédique et son procédé de commande

Publications (2)

Publication Number Publication Date
EP4048209A1 EP4048209A1 (fr) 2022-08-31
EP4048209B1 true EP4048209B1 (fr) 2025-04-16

Family

ID=72801488

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20788760.5A Active EP4048209B1 (fr) 2019-10-22 2020-10-07 Articulation orthopédique et son procédé de commande

Country Status (4)

Country Link
US (1) US12440361B2 (fr)
EP (1) EP4048209B1 (fr)
DE (1) DE102019128508B4 (fr)
WO (1) WO2021078516A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12059383B2 (en) 2016-05-03 2024-08-13 Icarus Medical, LLC Assistive orthotic device with motors and sensors
EP3538836B1 (fr) * 2016-11-09 2025-09-10 Randall Alley Systèmes de distribution de charge et équipement de transport de charge

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009052887B4 (de) * 2009-11-13 2016-09-15 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines orthetischen oder prothetischen Gelenkes einer unteren Extremität

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7416537B1 (en) * 1999-06-23 2008-08-26 Izex Technologies, Inc. Rehabilitative orthoses
FI110159B (fi) 1999-12-17 2002-12-13 Respecta Oy Alaraajaproteesi
DE102008024747A1 (de) * 2008-05-20 2009-12-03 Otto Bock Healthcare Products Gmbh Orthopädische Einrichtung mit einem Gelenk sowie Verfahren zur Steuerung einer orthopädischen Einrichtung
DE102009052888A1 (de) * 2009-11-13 2011-05-19 Otto Bock Healthcare Products Gmbh Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Gelenkes
DE102015106392B4 (de) 2015-04-24 2020-07-09 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung der Standphasendämpfung eines künstlichen Kniegelenks
DE102016107743A1 (de) * 2016-04-26 2017-10-26 Össur Iceland Ehf Verfahren zur Steuerung einer Antriebs- und/oder Bremseinrichtung eines orthetischen oder prothetischen, künstlichen Gelenks
DE102016114075B3 (de) 2016-07-29 2017-11-16 Otto Bock Healthcare Products Gmbh Orthopädietechnisches System und Verfahren zu dessen Steuerung

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009052887B4 (de) * 2009-11-13 2016-09-15 Otto Bock Healthcare Products Gmbh Verfahren zur Steuerung eines orthetischen oder prothetischen Gelenkes einer unteren Extremität

Also Published As

Publication number Publication date
US12440361B2 (en) 2025-10-14
WO2021078516A1 (fr) 2021-04-29
DE102019128508A1 (de) 2021-04-22
DE102019128508B4 (de) 2021-07-22
EP4048209A1 (fr) 2022-08-31
US20220370224A1 (en) 2022-11-24

Similar Documents

Publication Publication Date Title
DE102013013810B3 (de) Verfahren zur Steuerung eines künstlichen Orthesen- oder Prothesenkniegelenkes
EP3285696B1 (fr) Procédé pour contrôler un changement d'amortissement d'une prothèse articulaire
DE69209476T2 (de) Einrichtung zum Steuern der Bewegung eines künstlichen Kniegelenks einer Oberschenkelprothese
EP2816979B1 (fr) Procédé de commande d'une articulation de genou artificielle d'une orthèse ou prothèse
EP2278942B1 (fr) Dispositif orthopédique pourvu d'une articulation et procédé pour commander ce dispositif orthopédique
EP2498725B1 (fr) Dispositif et procédé pour commander une articulation orthétique ou prothétique artificielle
EP3285697B1 (fr) Procédé pour contrôler l'amortissement de la phase d'appui d'une prothèse du genou
DE102008008284A1 (de) Orthopädisches Kniegelenk sowie Verfahren zur Steuerung eines orthopädischen Kniegelenkes
DE102009052895A1 (de) Verfahren und Vorrichtung zur Steuerung eines künstlichen orthetischen oder prothetischen Kniegelenkes
EP4048209B1 (fr) Articulation orthopédique et son procédé de commande
DE102020125256A1 (de) Verfahren zur Steuerung eines Prothesenfußes
EP3285692B1 (fr) Procédé pour commander une articulation de genou artificielle
EP3911282A1 (fr) Procédé pour la commande d'un dispositif orthétique ou prothétique et dispositif orthétique ou prothétique
EP2498730B1 (fr) Procédé et dispositif pour commander une articulation orthétique ou prothétique artificielle
DE102016107743A1 (de) Verfahren zur Steuerung einer Antriebs- und/oder Bremseinrichtung eines orthetischen oder prothetischen, künstlichen Gelenks
WO2024208900A1 (fr) Procédé de commande d'un agencement d'articulation orthopédique
DE102023120962A1 (de) Orthopädietechnische Gelenkeinrichtung und Verfahren zu dessen Steuerung
DE102019118930A1 (de) Orthopädietechnische, mechatronische Gelenkeinrichtung und Verfahren zu deren Steuerung
DE102022132341A1 (de) Prothesen- oder Orthesenkniegelenk und Verfahren zu dessen Steuerung
DE102023118195A1 (de) Verfahren zur Steuerung einer orthopädietechnischen Gelenkeinrichtung
DE102023133975A1 (de) Verfahren zur Steuerung einer orthopädietechnischen Kniegelenkeinrichtung
WO2023111002A2 (fr) Actionneur et dispositif articulaire orthopédique et procédé de commande correspondant

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220519

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20241111

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: DE

Ref legal event code: R096

Ref document number: 502020010849

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250416

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250818

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250416

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250716

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250717

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250416

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250416

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250416

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250716

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250816

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250416

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20251023

Year of fee payment: 6